Reaction Force Control of a Parallel Biwheel Vehicle Driven with a Stepping Motor

1999 ◽  
Vol 11 (5) ◽  
pp. 356-361 ◽  
Author(s):  
Nobuaki Hiraoka ◽  
◽  
Toshiro Noritsugu ◽  
Keyword(s):  
Force Control ◽  
Inverted Pendulum ◽  
Fuzzy Logic Controller ◽  
Sliding Mode ◽  
Reaction Force ◽  
Reference Signal ◽  
Wave Force ◽  
Open Loop ◽  
Control Performance ◽  
Force Magnitude

Reaction force control of a parallel biwheel vehicle (PBV) driven with two stepping motors in open loop mode is used for holding and transporting objects. The inverted pendulum type unstable PBV's attitude is regulated by a discrete time sliding mode controller. Reaction force is generated by contacting and leaning the PBV body toward objects and reaction force magnitude is controlled by a fuzzy logic controller whose nonlinear control achieves a quick, calm response. For a square wave force reference up to 1 N, the PBV quickly follows a reference signal without overshoot and maintains a steady reaction force. Control performance is discussed in detail aid compared to PI force control. The two PBVs cooperatively transport an object.

Fuzzy impedance-based control with fast terminal sliding mode force control loop for a series elastic actuator system

2021 ◽  
pp. 014233122110436
Author(s):  
Seyed Ali Moafi ◽  
Farid Najafi
Keyword(s):  
Force Control ◽  
Fuzzy Logic Controller ◽  
Sliding Mode ◽  
Control Loop ◽  
Terminal Sliding Mode ◽  
Control Approach ◽  
Series Elastic Actuator ◽  
Control Scheme ◽  
Fast Terminal Sliding Mode ◽  
Series Elastic

This paper proposes a robust control scheme to accomplish the interaction control problem between a series elastic actuator (SEA) and a flexible environment. The adaptability of the controller to unknown variations and robustness of the controller during interaction of the system with environment are the main aims. The control scheme is based on a fuzzy impedance control approach and consists of an inner fast terminal sliding mode force control loop. An experimental setup is designed to prove the efficiency of the developed controller. The experimental results confirm that the proposed fuzzy logic controller guarantees the sensitivity of the controlled system to unpredictable variations. Moreover, by applying the fast terminal sliding mode algorithm for the inner force control loop, the system has faster convergence to the reference path compared with similar control methods found in the literature.

Enhancement of Force Control Performance of Macro-Micro System Based Polishing Robot With Gravity Compensation

2021 ◽  
Author(s):  
Shotaro Ogawa ◽  
Katsuki Koto ◽  
Takuhiro Tsukada ◽  
Yasuhiro Kakinuma
Keyword(s):  
Surface Quality ◽  
Force Control ◽  
Tool Path ◽  
Rotation Speed ◽  
Reaction Force ◽  
Gravity Compensation ◽  
Control Performance ◽  
Skilled Workers ◽  
Polishing Process ◽  
Serial Link

Abstract In a fine mold manufacturing process, the polishing process plays an important role in enhancing the surface quality and is performed manually by skilled workers. However, there are many problems such as decrease in skilled workers, health hazards due to scattering of abrasives, and difference in surface quality due to difference in the proficiency. Hence, there is a strong demand for automation of the polishing process at present. In this research, a robot polishing system that applies macro-micro mechanism is proposed. The functional polishing module of the end effector is developed and attached to the hand of the serial link robot. Tool path and posture are controlled in a serial link robot as a macro mechanism, and polishing force and tool rotation speed are controlled in the developed polishing module as micro mechanism. This mechanism ideally controls position, force, and rotation speed at the same time. An interlocking control system for position and force has already been constructed. In this paper, we constructed gravity compensation and evaluated the force control performance of the constructed system. Through the evaluation, the followability of the estimated reaction force to the command force and the validity of the actual force behavior measured by the force sensor were evaluated.

scholarly journals Characterizing the performance of human leg external force control

2021 ◽  
Author(s):  
Pawel Kudzia ◽  
Stephen N. Robinovitch ◽  
J. Maxwell Donelan
Keyword(s):  
Steady State ◽  
Real Time ◽  
Force Control ◽  
Position Control ◽  
Time Signal ◽  
Intermediate Step ◽  
Control Performance ◽  
Step Functions ◽  
Force Magnitude ◽  
External Forces

Our legs act as our primary contact with the surrounding environment, generating external forces that enable agile motion. To be agile, the nervous system has to control both the magnitude of the force that the feet apply to the ground and the point of application of this force. The purpose of this study was to characterize the performance of the healthy human neuromechanical system in controlling the force-magnitude and position of an externally applied force. To accomplish this, we built an apparatus that immobilized participants but allowed them to exert variable but controlled external forces with a single leg onto a ground embedded force plate. We provided real-time visual feedback of either the leg force-magnitude or position that participants were exerting against the force platform and instructed participants to best match their real-time signal to prescribed target step functions. We tested target step functions of a range of sizes and quantified the responsiveness and accuracy of the control. For the control of force-magnitude and for intermediate step sizes of 0.45 bodyweights, we found a bandwidth of 1.8+/-0.5 Hz, a steady-state error of 2.6+/-0.9%, and a steady-state variability of 2.7+/-0.9%. We found similar control performance in terms of responsiveness and accuracy across step sizes and between force-magnitude and position control. Increases in responsiveness correlated with reductions in other measures of control performance, such as a greater magnitude of overshooting. We modelled the observed control performance and found that a second-order model was a good predictor of external leg force control. We discuss how benchmarking force control performance in young healthy humans aids in understanding differences in agility between humans, between humans and other animals, and between humans and engineered systems.

scholarly journals New Sensorless Speed Control of a Hybrid Stepper Motor Based on Fuzzy Sliding Mode Observer

Energies ◽  
2020 ◽  
Vol 13 (18) ◽  
pp. 4939
Author(s):  
Chunlei Wang ◽  
Dongxing Cao
Keyword(s):  
Fuzzy Logic Controller ◽  
Sliding Mode ◽  
High Reliability ◽  
Low Cost ◽  
Speed Control ◽  
Torque Ripple ◽  
Open Loop ◽  
Sliding Mode Observer ◽  
Loop Control ◽  
Fuzzy Sliding Mode

Stepper motors are widely used in industrial and consumer applications due to low-cost, high reliability, and open-loop control capability. Though open-loop features a simple structure, it bears low step resolution, high torque ripple, and low energy efficiency. To improve the performance without increasing hardware cost, a fuzzy sliding mode observer (SMO)-based new sensorless speed control structure is proposed. Unlike the conventional sensorless speed control, it does not use Park and inverse Park transformations to transform currents between a-b and d-q coordinates. Instead, it uses a new current transformation method to generate reference currents of stator windings, which not only reduces the calculation burden of the controller, but also improves the stability of the system. To reduce the chattering, a fuzzy logic controller (FLC) embedded into the SMO is designed to adjust the observer gain adaptively, without using the conventional method that replaces the discontinuous sign function with the continuous, such as sigmoid or saturation function. The effectiveness of the proposed controller is verified using MATLAB/Simulink simulation (R2018b, MathWorks, Natick, MA, USA) and experiment by assessing the speed and position tracking abilities.

Control of the two-wheeled inverted pendulum (TWIP) robot in presence of model uncertainty and motion restriction

2020 ◽  
Vol ahead-of-print (ahead-of-print) ◽  
Author(s):  
Zhou Haitao ◽  
Haibo Feng ◽  
Li Xu ◽  
Songyuan Zhang ◽  
Yili Fu
Keyword(s):  
Model Uncertainty ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Reference Value ◽  
Stability Control ◽  
Reference Trajectory ◽  
Control Performance ◽  
Content Type ◽  
Lumped Model ◽  
Wheeled Inverted Pendulum

Purpose The purpose of this paper is to improve control performance and safety of a real two-wheeled inverted pendulum (TWIP) robot by dealing with model uncertainty and motion restriction simultaneously, which can be extended to other TWIP robotic systems. Design/methodology/approach The inequality of lumped model uncertainty boundary is derived from original TWIP dynamics. Several motion restriction conditions are derived considering zero dynamics, centripedal force, ground friction condition, posture stability, control torque limitation and so on. Sliding-mode control (SMC) and model predictive control (MPC) are separately adopted to design controllers for longitudinal and rotational motion, while taking model uncertainty into account. The reference value of the moving velocity and acceleration, delivered to the designed controller, should be restricted in a specified range, limited by motion restrictions, to keep safe. Findings The cancelation of model uncertainty commonly existing in real system can improve control performance. The motion commands play an important role in maintaining safety and reliability of TWIP, which can be ensured by the proposed motion restriction to avoid potential movement failure, such as slipping, lateral tipping over because of turning and large fluctuation of body. Originality/value An inequation of lumped model uncertainty boundary incorporating comprehensive errors and uncertainties of system is derived and elaborately calculated to determine the switching coefficients of SMC. The motion restrictions for TWIP robot moving in 3D are derived and used to impose constraints on reference trajectory to avoid possible instability or failure of movement.

scholarly journals Improved Self-Sensing Speed Control of IPMSM Drive Based on Cascaded Nonlinear Control

Energies ◽  
2021 ◽  
Vol 14 (8) ◽  
pp. 2205
Author(s):  
Muhammad Usama ◽  
Jaehong Kim
Keyword(s):  
Fuzzy Logic Controller ◽  
Control Design ◽  
Speed Control ◽  
Current Control ◽  
The Self ◽  
Pole Placement ◽  
Motor Drive ◽  
Control Performance ◽  
Control Loop ◽  
Maximum Torque

This paper presents a nonlinear cascaded control design that has been developed to (1) improve the self-sensing speed control performance of an interior permanent magnet synchronous motor (IPMSM) drive by reducing its speed and torque ripples and its phase current harmonic distortion and (2) attain the maximum torque while utilizing the minimum drive current. The nonlinear cascaded control system consists of two nonlinear controls for the speed and current control loop. A fuzzy logic controller (FLC) is employed for the outer speed control loop to regulate the rotor shaft speed. Model predictive current control (MPCC) is utilized for the inner current control loop to regulate the drive phase currents. The nonlinear equation for the dq reference current is derived to implement the maximum torque per armature (MTPA) control to achieve the maximum torque while using the minimum current values. The model reference adaptive system (MRAS) was employed for the speed self-sensing mechanism. The self-sensing speed control performance of the IPMSM motor drive was compared with that of the traditional cascaded control schemes. The stability of the sensorless mechanism was studied using the pole placement method. The proposed nonlinear cascaded control was verified based on the simulation results. The robustness of the control design was ensured under various loads and in a wide speed range. The dynamic performance of the motor drive is improved while circumventing the need to tune the proportional-integral (PI) controller. The self-sensing speed control performance of the IPMSM drive was enhanced significantly by the designed cascaded control model.

Robust stabilization control of a spatial inverted pendulum using integral sliding mode controller

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Ishan Chawla ◽  
Vikram Chopra ◽  
Ashish Singla
Keyword(s):  
Inverted Pendulum ◽  
Sliding Mode ◽  
Robust Stabilization ◽  
Linear Quadratic Regulator ◽  
Humanoid Robots ◽  
Sliding Mode Controller ◽  
Linear Quadratic ◽  
Integral Sliding Mode ◽  
Wide Range ◽  
Lqr Controller

AbstractFrom the last few decades, inverted pendulums have become a benchmark problem in dynamics and control theory. Due to their inherit nature of nonlinearity, instability and underactuation, these are widely used to verify and implement emerging control techniques. Moreover, the dynamics of inverted pendulum systems resemble many real-world systems such as segways, humanoid robots etc. In the literature, a wide range of controllers had been tested on this problem, out of which, the most robust being the sliding mode controller while the most optimal being the linear quadratic regulator (LQR) controller. The former has a problem of non-robust reachability phase while the later lacks the property of robustness. To address these issues in both the controllers, this paper presents the novel implementation of integral sliding mode controller (ISMC) for stabilization of a spatial inverted pendulum (SIP), also known as an x-y-z inverted pendulum. The structure has three control inputs and five controlled outputs. Mathematical modeling of the system is done using Euler Lagrange approach. ISMC has an advantage of eliminating non-robust reachability phase along with enhancing the robustness of the nominal controller (LQR Controller). To validate the robustness of ISMC to matched uncertainties, an input disturbance is added to the nonlinear model of the system. Simulation results on two different case studies demonstrate that the proposed controller is more robust as compared to conventional LQR controller. Furthermore, the problem of chattering in the controller is dealt by smoothening the controller inputs to the system with insignificant loss in robustness.

Sliding Mode Control for Wheeled Inverted Pendulum

2014 ◽  
Vol 971-973 ◽  
pp. 714-717 ◽  
Author(s):  
Xiang Shi ◽  
Zhe Xu ◽  
Qing Yi He ◽  
Ka Tian
Keyword(s):  
Control System ◽  
Sliding Mode Control ◽  
High Performance ◽  
Inverted Pendulum ◽  
Sliding Mode ◽  
Experimental Results ◽  
Control Law ◽  
Collaborative Simulation ◽  
Mode Control ◽  
Wheeled Inverted Pendulum

To control wheeled inverted pendulum is a good way to test all kinds of theories of control. The control law is designed, and it based on the collaborative simulation of MATLAB and ADAMS is used to control wheeled inverted pendulum. Then, with own design of hardware and software of control system, sliding mode control is used to wheeled inverted pendulum, and the experimental results of it indicate short adjusting time, the small overshoot and high performance.

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